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162 lines
4.0 KiB
162 lines
4.0 KiB
.. _widget_pose: |
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Pose of a widget |
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Goal |
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==== |
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In this tutorial you will learn how to |
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.. container:: enumeratevisibleitemswithsquare |
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* Add widgets to the visualization window |
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* Use Affine3 to set pose of a widget |
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* Rotating and translating a widget along an axis |
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Code |
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==== |
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You can download the code from :download:`here <../../../../samples/cpp/tutorial_code/viz/widget_pose.cpp>`. |
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.. code-block:: cpp |
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#include <opencv2/viz/vizcore.hpp> |
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#include <opencv2/calib3d/calib3d.hpp> |
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#include <iostream> |
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using namespace cv; |
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using namespace std; |
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/** |
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* @function main |
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*/ |
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int main() |
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{ |
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/// Create a window |
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viz::Viz3d myWindow("Coordinate Frame"); |
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/// Add coordinate axes |
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myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem()); |
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/// Add line to represent (1,1,1) axis |
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viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f)); |
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axis.setRenderingProperty(viz::LINE_WIDTH, 4.0); |
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myWindow.showWidget("Line Widget", axis); |
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/// Construct a cube widget |
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viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue()); |
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cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0); |
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/// Display widget (update if already displayed) |
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myWindow.showWidget("Cube Widget", cube_widget); |
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/// Rodrigues vector |
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Mat rot_vec = Mat::zeros(1,3,CV_32F); |
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float translation_phase = 0.0, translation = 0.0; |
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while(!myWindow.wasStopped()) |
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{ |
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/* Rotation using rodrigues */ |
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/// Rotate around (1,1,1) |
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rot_vec.at<float>(0,0) += CV_PI * 0.01f; |
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rot_vec.at<float>(0,1) += CV_PI * 0.01f; |
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rot_vec.at<float>(0,2) += CV_PI * 0.01f; |
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/// Shift on (1,1,1) |
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translation_phase += CV_PI * 0.01f; |
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translation = sin(translation_phase); |
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Mat rot_mat; |
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Rodrigues(rot_vec, rot_mat); |
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/// Construct pose |
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Affine3f pose(rot_mat, Vec3f(translation, translation, translation)); |
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myWindow.setWidgetPose("Cube Widget", pose); |
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myWindow.spinOnce(1, true); |
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} |
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return 0; |
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} |
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Explanation |
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=========== |
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Here is the general structure of the program: |
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* Create a visualization window. |
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.. code-block:: cpp |
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/// Create a window |
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viz::Viz3d myWindow("Coordinate Frame"); |
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* Show coordinate axes in the window using CoordinateSystemWidget. |
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.. code-block:: cpp |
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/// Add coordinate axes |
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myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem()); |
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* Display a line representing the axis (1,1,1). |
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.. code-block:: cpp |
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/// Add line to represent (1,1,1) axis |
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viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f)); |
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axis.setRenderingProperty(viz::LINE_WIDTH, 4.0); |
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myWindow.showWidget("Line Widget", axis); |
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* Construct a cube. |
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.. code-block:: cpp |
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/// Construct a cube widget |
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viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue()); |
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cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0); |
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myWindow.showWidget("Cube Widget", cube_widget); |
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* Create rotation matrix from rodrigues vector |
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.. code-block:: cpp |
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/// Rotate around (1,1,1) |
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rot_vec.at<float>(0,0) += CV_PI * 0.01f; |
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rot_vec.at<float>(0,1) += CV_PI * 0.01f; |
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rot_vec.at<float>(0,2) += CV_PI * 0.01f; |
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... |
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Mat rot_mat; |
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Rodrigues(rot_vec, rot_mat); |
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* Use Affine3f to set pose of the cube. |
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.. code-block:: cpp |
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/// Construct pose |
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Affine3f pose(rot_mat, Vec3f(translation, translation, translation)); |
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myWindow.setWidgetPose("Cube Widget", pose); |
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* Animate the rotation using wasStopped and spinOnce |
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.. code-block:: cpp |
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while(!myWindow.wasStopped()) |
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{ |
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... |
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myWindow.spinOnce(1, true); |
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} |
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Results |
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======= |
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Here is the result of the program. |
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.. raw:: html |
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<div align="center"> |
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<iframe width="420" height="315" src="https://www.youtube.com/embed/22HKMN657U0" frameborder="0" allowfullscreen></iframe> |
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</div>
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